ANGULAR VELOCITY MEASURING DEVICE AND LEG-MOVING ROBOT

An angular velocity measuring device (1) includes a first sensor (2) (vibratory gyroscope) and a second sensor (3) (gas rate gyroscope). A detected output of the first sensor (2) is input to a highpass filter (4) and an output of this filter (4) is stored in the time series into a memory (10). Subtr...

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Bibliographische Detailangaben
Hauptverfasser:	SAOTOME, KOUJI, SAIKA, HITOSHI, HIRAYAMA, SHINYU, SHIMADA, YOICHI, HORI, KENGO, SAKOGOSHI, TOMOHIRO, OKAMOTO, NORIAKI, AKAHORI, SHIGETO
Format:	Patent
Sprache:	eng ; fre ; ger
Schlagworte:	CHAMBERS PROVIDED WITH MANIPULATION DEVICES GYROSCOPIC INSTRUMENTS HAND TOOLS MANIPULATORS MEASURING MEASURING DISTANCES, LEVELS OR BEARINGS NAVIGATION PERFORMING OPERATIONS PHOTOGRAMMETRY OR VIDEOGRAMMETRY PHYSICS PORTABLE POWER-DRIVEN TOOLS SURVEYING TESTING TRANSPORTING
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Beschreibung
Zusammenfassung:	An angular velocity measuring device (1) includes a first sensor (2) (vibratory gyroscope) and a second sensor (3) (gas rate gyroscope). A detected output of the first sensor (2) is input to a highpass filter (4) and an output of this filter (4) is stored in the time series into a memory (10). Subtraction means (11) sequentially performs operations of subtracting an output (Év'(t-tsd) of the filter (4) at a time a predetermined time period tsd earlier from an output Év'(t) of the filter (4), and addition means (12) sequentially adds the value obtained by the above to an output Ég(t) of the second sensor (3), whereby an angular velocity measurement is obtained. Thereby, it is possible to provide an angular velocity measuring device whose angular velocity measurements are high in response and stability at a low price.